from launch import LaunchDescription
from launch_ros.actions import Node
 
def generate_launch_description():
   return LaunchDescription([
      ## 数据生成节点
      Node(
         package='pub_data',
         executable='pub_data_node',
         name='pub_data_node'
      ),
      ## 持久化节点
      Node(
         package='data_persistent_node',
         executable='data_persistent_node',
         name='data_persistent_node'
      ),
      ## GUI
      Node(
         package='gui',
         executable='gui_node',
         name='gui_node'
      ),
      ## 异常检测
      Node(
         package='py01_topic',
         executable='demo03_data_receiver',
         name='demo03_data_receiver'
      ),
      ## 异常订阅
      Node(
         package='py01_topic',
         executable='demo04_exception_listener',
         name='demo04_exception_listener'
      ),
   ])